EP2364129B1 - Elément de doigt - Google Patents

Elément de doigt Download PDF

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Publication number
EP2364129B1
EP2364129B1 EP09801137.2A EP09801137A EP2364129B1 EP 2364129 B1 EP2364129 B1 EP 2364129B1 EP 09801137 A EP09801137 A EP 09801137A EP 2364129 B1 EP2364129 B1 EP 2364129B1
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EP
European Patent Office
Prior art keywords
finger element
finger
element according
phalanx
gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP09801137.2A
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German (de)
English (en)
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EP2364129A1 (fr
Inventor
Stefan Schulz
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Individual
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Individual
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A61F2002/30518—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements with possibility of relative movement between the prosthetic parts
    • A61F2002/30523—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements with possibility of relative movement between the prosthetic parts by means of meshing gear teeth
    • A61F2002/30525—Worm gears
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5001—Cosmetic coverings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5007—Prostheses not implantable in the body having elastic means different from springs, e.g. including an elastomeric insert
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A61F2002/587—Thumbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6827—Feedback system for providing user sensation, e.g. by force, contact or position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2220/00—Fixations or connections for prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2220/0025—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements

Definitions

  • the invention relates to a finger element according to the first claim. It serves as a self-sufficient element for use as an artificial single-finger prosthesis or as a component of an artificial hand or arm prosthesis.
  • Hand prostheses with a motorized rotary actuator for two fingers against each other reveal, for example DE 26 07 499 C3 and US 4,094,016 , A gear motor as an actuator is located in these concepts in the palm area of the prosthesis.
  • the said systems do not include autonomously driven finger elements, all the actuating elements required for the operation being contained in the finger element.
  • the drives are arranged outside the finger elements in these systems. They are therefore conceptually not suitable for use as a single finger prosthesis. Also a use as a component in a prosthetic modular system is thereby significantly limited.
  • the DB 698 16 848 T2 such as DB 198 54 762 C2 one finger element each with a motorized rotary drive with threaded screw and gear per joint.
  • the motors are housed directly in the phalanges.
  • the worm wheel is firmly connected to the motor shaft, so that under a load of the finger element high forces can act on the engine. Premature gear or engine damage and blocking of the worm drive under load is promoted.
  • the object of the invention is to modify a finger element in such a way that, in principle, it can be used as a self-sufficient element, i. can also be used as a single finger prosthesis.
  • the finger element in its active and passive function as well as in its dimensions a natural finger, especially smaller fingers come very close and thereby have a long life.
  • a finger element with a carrier component, a first finger member articulated thereto via a first articulated joint and a second finger member articulated on the latter via a second articulated joint.
  • an actuator for the first hinge connection is provided.
  • This includes a motor with or without an integrated gear ratio to a drive shaft.
  • the drive shaft drives a threaded screw of an advantageous self-locking worm gear, which in turn engages in a toothed segment and this synchronously moves the rotational movement of the motor shaft.
  • the finger element comprises a coupling mechanism between the first and second hinge connection.
  • the sector gear is preferably a part of a gear or a gear segment about a gear axis, which preferably coincides simultaneously with the pivot axis of the first hinge connection.
  • the invention also includes a toothed segment as part of a rack, which is movably mounted in the finger element in a movable manner at a distance from the pivot axis.
  • An essential feature of the invention comprises a decoupling of motor shaft and threaded screw in the axial direction to the motor shaft.
  • the threaded screw is preferably placed on the motor shaft and is in the direction of rotation with her form-fitting, e.g. coupled via a toothing or a groove connection.
  • An axial mobility of the motor shaft in the screw must be ensured.
  • the two guides are formed by a rigid, preferably one-piece frame, in which the screw is inserted with a small axial play.
  • this assembly is used as a unit and / or the toothed segment also elastically yielding in the finger element, this results in an elastic Biegenachgiebtechnik the finger element to the joint, which comes close to a functional replica of a natural finger.
  • the assembly mentioned is preferably used for this purpose in an elastomeric holder in the finger element, which allows a yielding of the assembly in lateral and / or rotational degrees of freedom.
  • the toothed segment, the gear segment or the toothed wheel is preferably mounted freely rotating on the pivot axis and is elastically inhibited in its rotational movement via an elastomeric elements.
  • a spacer between the pivot axis and the aforementioned assembly intended is preferably rotatably mounted on the pivot axis and connected to the axis of rotation of the screw.
  • this is the threaded screw in the guides not only axially, but also radially mounted, while the spacer is fixedly connected to the guides.
  • the positive mounting of the screw on the motor shaft is to be provided as a pivotable rotary coupling, for example as a propeller shaft coupling e.g. with circumferential and engaging in recesses in the motor shaft and inner bore of the screw screw solid, e.g. Balls of a ball ring.
  • a pivotable rotary coupling for example as a propeller shaft coupling e.g. with circumferential and engaging in recesses in the motor shaft and inner bore of the screw screw solid, e.g. Balls of a ball ring.
  • the coupling mechanism preferably comprises at least one elastic connection, for example as a pull and push rod between the carrier component and the second phalange, connected in parallel with the first phalange. It also preferably consists of one or two spring rod connections (eg spring wire or spring plate), which act eccentrically to the pivot axes of the first and second articulated joints on the respectively adjacent carrier component and second finger member.
  • spring rod connections eg spring wire or spring plate
  • the illustrated embodiments of the finger element each comprise a support component 1 with a first hinge axis 2 and gear segment 3 with a plurality of tooth segments 4.
  • the support component 1 has means not shown further as mounting holes for the attachment of the finger element, for example, to a hand prosthesis (see. 3a and b ) on.
  • the first joint axis 2 serves at the same time as a bearing of the gear segment and as a pivot axis for the first phalange 5.
  • the first phalange is in turn connected via a second hinge connection with a second phalange 6, wherein the second hinge axis 7 forms the pivot axis for the second phalange.
  • the pivotal movement of the first and second phalanges about the respective pivot axes are coupled via a coupling mechanism (see FIG.
  • this comprises two elastic spring rod connections 8 arranged parallel to one another on both sides of the first finger member 5 and rotatable in each case on the carrier component and on the second finger member in a respective bearing bore 9 and 10 engage eccentrically to the first and second hinge axis 2 and 7, respectively.
  • Fig.2 shows a cross section through a finger element.
  • a motor drive 11 for an attached directly to the drive shaft 12 threaded screw 13 is located in the interior of the tubular first finger member 5.
  • the threaded screw is positively coupled via a not-shown spring-groove connection in the rotation direction with each other, but slid axially slidably on the drive axle ,
  • the threaded screw is guided in the embodiment in the radial direction on the drive shaft, but is limited in its axial displacement by two guides 14 preferably free of play.
  • the materials for the screw thread to the materials of the guides preferably have a low coefficient of sliding friction and high abrasive resistance.
  • the thread screw is made because of the expected high load of the actuator made of brass or steel, the guides of a preferably dry lubricating plain bearing bush material such as a PTFE material or a plain bearing bronze.
  • the drive 11 comprises at least one electric motor as an actuating element, optionally also a gear unit and / or for use as a self-sufficient finger prosthesis, an electrical voltage source and control electronics (battery, rechargeable battery, etc.), wherein in particular the latter components are also in the core 15 of arrange second finger member 6 .
  • the second finger member 6 also comprises an elastic finger tip 18, preferably made of an elastomer, and a scraper 16 acting on a sliding surface 17 (preferably an insertable cover element, for example made of plastic) of the first finger member 5 .
  • an optional tactile sensor into the fingertip 18 and / or into the core 15 and / or to attach strain gauges to one of the phalanxes, which or a tactile signal directly into the control electronics (preferably then in the core arranged).
  • the tactile signal is preferably used for a sensitive detection of the attacking force and a tactile feedback of a gripping force to the prosthesis wearer (force feedback) alternatively or additionally to the power consumption of the motor drive and thus the force limit in the motion control.
  • 3a and b provide a prosthetic hand with rotatable attachment component 20, palmar element 19 ( FIG. 4a ) and a plurality of finger elements in the described embodiment from two perspectives. All finger elements are fastened to the palm element 19 via the carrier component. Point, middle and ring finger element are rigidly connected to an elastic receptacle 21 ( FIG. 4b ) , while for receiving the thumb member 24, a separate finger element receptacle 22 are provided with an additional actively driven and elastically resilient about a central position joint.
  • the small finger element 25 also has its own elastically flexible finger element receptacle 23 .
  • a thumb member 24 with the associated finger element receptacle 22 is also in 4a to d in different positions shown in detail.
  • 4a and b are doing positions with extended finger element recording 22 again, while 4c and d each show an angled position of the finger element holder.
  • the finger element holder has a motor-driven articulated connection, which preferably corresponds conceptually to a first articulated connection between carrier component 1 and first finger member 5 .
  • the hinge connection 22 in the illustrated embodiment thus comprises a separate drive housing 26 (corresponding to the first finger member) with a motor drive with threaded screw and gear segment 27 about a pivot axis 28 and a connection platform 29 for the carrier components 1 of the thumb member 25 (see. 4a ).
  • the design of the finger elements in the illustrated embodiments allows adaptation to the particular use solely by replacing the fingertip 18 and for use in a hand prosthesis of the palm member 19 and the elastic receptacle 21 .
  • the finger element receptacles 22 and 25 acc. 3a and b and 4a to d are made exclusively with components of the finger element.
  • the drive housing 26 is preferably identical to all the built-in components with the first finger member 5, the connection platform 28 with the carrier component 1. This favors a standardization of the components or entire assemblies, which in turn significantly favors economic production and warehousing and adaptation to individual needs of the prosthesis wearer ,
  • an optical panel of the finger element or the entire hand prosthesis for example with a glove.

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Claims (11)

  1. Elément formant un doigt, comprenant
    a) un élément de support (1),
    b) une première section du doigt (5) avec un premier joint articulé (2) pour l'élément de support,
    c) une deuxième section du doigt (6) avec un deuxième joint articulé (7) pour la première section du doigt,
    d) un servomoteur pour le premier joint articulé (2), avec moteur (11) doté d'un arbre d'entraînement (12) et d'un engrenage à vis sans fin avec une vis sans fin taraudée (13) et un segment denté (4) s'engrenant sur la vis sans fin taraudée et
    e) un mécanisme de couplage (8) entre le premier et le deuxième joint articulé, caractérisé par le fait que
    f) la vis sans fin taraudée, axialement mobile, logée par emboîtement sur l'arbre d'entraînement et guidée axialement par des guides séparés (14).
  2. Elément formant un doigt conformément à la revendication n°1, caractérisé par le fait que le moteur et la vis sans fin taraudée (13) ainsi que les guides (14) sont disposés dans la première section du doigt (5) et que le segment denté (4) est relié à l'élément de support (1).
  3. Elément formant un doigt conformément à la revendication n°1 ou n°2, caractérisé par le fait que le segment denté (4) est formé d'un segment d'engrenage (3) doté d'un axe d'engrenage, ce dernier définissant le sens de pivotement du premier joint articulé.
  4. Elément formant un doigt conformément à l'une des revendications susmentionnées, caractérisé par le fait que les guides (14) et la vis sans fin taraudée (13), réunis dans un module, sont mis en place dans la première section du doigt (5).
  5. Elément formant un doigt conformément à la revendication n°4, caractérisé par le fait que le module est introduit élastiquement.
  6. Elément formant un doigt conformément à l'une des revendications susmentionnées, caractérisé par le fait que la vis sans fin taraudée (13) est logée radialement par rapport au segment denté (4) dans les guides (14).
  7. Elément formant un doigt conformément à l'une des revendications susmentionnées, caractérisé par le fait que le mécanisme de couplage présente au moins un raccord élastique (8) entre l'élément de support (1) et la deuxième section du doigt (6), montée en parallèle par rapport à la première section du doigt (5).
  8. Elément formant un doigt conformément à la revendication n°7, caractérisé par le fait que l'assemblage comprend un ou deux raccords de tiges à ressorts (8) comme barres de traction-compression.
  9. Elément formant un doigt conformément à l'une des revendications susmentionnées, caractérisé par le fait que la deuxième section du doigt présente un bout de doigt (18) échangeable.
  10. Elément formant un doigt conformément à l'une des revendications susmentionnées, caractérisé par le fait que la première et/ou la deuxième section du doigt comprend un capteur tactile ou une jauge extensométrique pour l'enregistrement de signaux tactiles.
  11. Elément formant un doigt conformément à la revendication n°8, caractérisé par le fait que les raccords de tiges à ressorts sont courbés ou pliés.
EP09801137.2A 2008-11-08 2009-11-04 Elément de doigt Active EP2364129B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008056520.2A DE102008056520B4 (de) 2008-11-08 2008-11-08 Fingerelement
PCT/DE2009/001537 WO2010051798A1 (fr) 2008-11-08 2009-11-04 Élément doigt

Publications (2)

Publication Number Publication Date
EP2364129A1 EP2364129A1 (fr) 2011-09-14
EP2364129B1 true EP2364129B1 (fr) 2013-06-19

Family

ID=42010428

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09801137.2A Active EP2364129B1 (fr) 2008-11-08 2009-11-04 Elément de doigt

Country Status (4)

Country Link
US (1) US8491666B2 (fr)
EP (1) EP2364129B1 (fr)
DE (1) DE102008056520B4 (fr)
WO (1) WO2010051798A1 (fr)

Families Citing this family (48)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090229398A1 (en) * 2008-03-24 2009-09-17 Franklin Leon Vargas Electromechanical motion hand
DE102008056520B4 (de) 2008-11-08 2017-10-19 Stefan Schulz Fingerelement
JP5787325B2 (ja) * 2010-09-24 2015-09-30 国立大学法人岐阜大学 人間型電動ハンド
CA2754844C (fr) * 2011-07-14 2018-06-12 Charles Colin MacDuff Prothese de doigt mecanique
DE102011110101A1 (de) * 2011-08-13 2013-02-14 Stefan Schulz Verfahren zum Bewegen und Halten eines Fingergliedes
DE102011110099A1 (de) * 2011-08-13 2013-02-14 Stefan Schulz Gehäuse für ein Fingerglied
GB201114264D0 (en) 2011-08-18 2011-10-05 Touch Emas Ltd Improvements in or relating to prosthetics and orthotics
DE102012005041B4 (de) * 2012-03-15 2019-05-09 Vincent Systems GmbH Mittel zum Halten eines Fingerelements
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EP2364129A1 (fr) 2011-09-14
US8491666B2 (en) 2013-07-23
WO2010051798A1 (fr) 2010-05-14
DE102008056520A1 (de) 2010-06-02
US20120109337A1 (en) 2012-05-03

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